ethercat gantry

Have you tried lowering the 'MAX_VELOCITY' value in the [JOINT_1] and [JOINT_2] section of your ini file?

I tried but the speed does not decrease. Too fast and the driver fails.

It probably happens like this. When I go to the mdi page, the required position is sent to the servo driver and if the servo is not in that position, it goes to that position very quickly. I think I should try to synchronize the position by examining the manual you sent.

I have done many tests but the problem persists. If the two engine positions are not the same at the first start, one of the engines tries to move to the other engine's position very quickly.
I have no idea how to solve this

[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5000
STEPGEN_MAXVEL = 10
STEPGEN_MAXACCEL = 10
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -100000
MAX_LIMIT = 120000
HOME = 0
HOME_OFFSET = 0
HOME_ABSOLUTE_ENCODER   = 2
HOME_SEQUENCE = 2

HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1

HOME_IGNORE_LIMITS     = 0
HOME_USE_INDEX          = YES

[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5000
STEPGEN_MAXVEL = 10
STEPGEN_MAXACCEL = 10
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -100000
MAX_LIMIT = 120000
HOME = 0
HOME_OFFSET = 0
HOME_ABSOLUTE_ENCODER   = 2
HOME_SEQUENCE = 2

HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1

HOME_IGNORE_LIMITS     = 0
HOME_USE_INDEX          = YES

When HOME_SEQUENCE = 0 I'm thinking of running a subroutine at startup, I'll equalize the axis positions there, for example I'll send the y1 axis to the y2 axis position and then
Maybe changing HOME_SEQUENCE =-2 could solve the problem. but I don't know how to change these parameters in gcode file
I want to change the HOME_SEQUENCE parameter for joint_1 and join_2. But I will try and see if this is a solution.

I think I found a way. If I send the y1 axis to the y2 axis position before pressing the home all button and then press the home all button, there will be no problem. I will try.

1. Have you tried setting the 'HOME_OFFSET' value to automatically compensate for position difference during homing?

2. You cannot change Homing related settings in gcode you need to setup homing in the ini file. For more complex situations there is the possibility to choose between a standard homing procedure and a custom homing procedure using a hal pin but I would certainly try the HOME_OFFSET feature mentioned above first.

I will try

You need to fix the limits in the ini file, why would you have -100000 to 120000mm of travel? That is 220 meters of travel if in mm, half a city if in inches !
And if joint 1 and joint 2 are tandem axis, home_sequence must be -2, not 2

you are right it should be -2
I change axis limits from gui